DocumentCode
336630
Title
Robust control of an unmanned underwater vehicle
Author
White, B.A.
Author_Institution
Dept. of Aerosp., Power & Sensors, Cranfield Univ., UK
Volume
3
fYear
1998
fDate
1998
Firstpage
2533
Abstract
The paper briefly describes the design of a robust controller for an unmanned underwater vehicle (UUV) using polynomial eigenstructure assignment. The controller decouples the vertical motion and the pitching motion of the UUV using a first order dynamic feedback structure. A simulation of the vehicle is described and the results of the closed loop step response are shown
Keywords
closed loop systems; control system synthesis; eigenstructure assignment; feedback; multivariable control systems; robust control; step response; underwater vehicles; closed loop systems; dynamic feedback; eigenstructure assignment; multivariable control systems; polynomial matching; robust control; step response; unmanned underwater vehicle; Aerodynamics; Attitude control; Control systems; Polynomials; Remotely operated vehicles; Robust control; Robustness; Sensor arrays; Underwater vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location
Tampa, FL
ISSN
0191-2216
Print_ISBN
0-7803-4394-8
Type
conf
DOI
10.1109/CDC.1998.757830
Filename
757830
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